CN214323364U

CN214323364U - Industrial robot system

Info

Publication number: CN214323364U
Application number: CN202120346196.5U
Authority: CN
Inventors: 盛旭明
Original assignee: Shenzhen Xiaohei Intelligent Technology Co ltd
Current assignee: Shenzhen Xiaohei Intelligent Technology Co ltd
Priority date: 2021-02-05
Filing date: 2021-02-05
Publication date: 2021-10-01
Anticipated expiration: 2031-02-05

Abstract

The application provides an industrial robot system, industrial robot system includes: the conveying device is used for conveying the object and is provided with a mark; an industrial robot, comprising: an assembling mechanism for performing operation on the object on the conveying device; a photographing device for photographing a first image at a first position of the conveying device, the first image being indicative of a relative positional relationship between the object and the marker, and a second image at a second position of the conveying device, the second image being indicative of a position of the marker, the second position being closer to the mounting mechanism than the first position; the main controller is connected with the shooting device and the assembling mechanism; the assembling mechanism is used for determining the actual position of the object according to the relative position relationship between the object and the mark and the position of the mark, and controlling the assembling mechanism to operate on the object according to the actual position of the object. The industrial robot system can operate the object according to the actual position of the object when operating the object, and the operation precision is improved.

Description

Industrial robot system

Technical Field

The application relates to the technical field of intelligent robots, in particular to an industrial robot system.

Background

Industrial robots are widely applied to assembly line operation, so that the industrial efficiency is greatly improved, the resources are saved, the identification of the position of an object is an important link in the technical field of intelligent robots, and the assembly accuracy is determined by the position of the object. And the object is put in the in-process that the conveyer belt carried out the conveying, probably because the manufacturing process problem of conveyer belt or mistake touch, the mistake bumps the problem and leads to the conveyer belt to take place slight skew, and leads to the change of object position, the not high problem of precision of assembly.

SUMMERY OF THE UTILITY MODEL

The application provides an industrial robot system, industrial robot system can carry out the operation to the object according to the actual position of object when carrying out the operation to the object to improve industrial robot and carry out the precision of operation to the object.

In a first aspect, an embodiment of the present application provides an industrial robot system, including: industrial robots and conveyors;

the conveying device is used for conveying the object and is provided with a mark;

the industrial robot includes:

an assembling mechanism for performing operation on the object on the conveying device;

a photographing device for photographing a first image indicating a relative positional relationship between the object and the marker at a first position of the conveying device, and a second image indicating a position of the marker at a second position of the conveying device, the second position being closer to the assembling mechanism than the first position;

a main controller connecting the photographing device and the assembling mechanism;

the main controller is used for determining the actual position of the object according to the relative position relation between the object and the mark and the position of the mark, and controlling the assembling mechanism to operate on the object according to the actual position of the object.

The application discloses industrial robot system, industrial robot system includes: industrial robots and conveyors; the conveying device is used for conveying the object and is provided with a mark; the industrial robot includes: an assembling mechanism for performing operation on the object on the conveying device; a photographing device for photographing a first image indicating a relative positional relationship between the object and the marker at a first position of the conveying device, and a second image indicating a position of the marker at a second position of the conveying device, the second position being closer to the assembling mechanism than the first position; a main controller connecting the photographing device and the assembling mechanism; the main controller is used for determining the actual position of the object according to the relative position relation between the object and the mark and the position of the mark, and controlling the assembling mechanism to operate on the object according to the actual position of the object. Through the actual position who obtains the object at the in-process of operation to carry out the operation to the object, can effectively improve the precision of operation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an industrial robot system provided in an embodiment of the present application;

fig. 2 is a schematic block diagram of the structure of an industrial robot system provided in an embodiment of the present application;

fig. 3 is a schematic block diagram of the structure of an industrial robot system provided in an embodiment of the present application;

fig. 4 is a partial schematic view of an industrial robot system according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Embodiments of the present application provide an industrial robot system. Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an industrial robot system 10 according to an embodiment of the present application, where the industrial robot system 10 may be used in the field of assembly line, especially in the field of assembly line of packaging assembly, and the industrial robot system 10 can acquire an actual position of an object during an assembly process to assemble the object, so as to improve the assembly accuracy.

As shown in fig. 1, the industrial robot system 10 comprises an industrial robot 20 and a conveyor 30, the conveyor 30 being used for conveying objects 40, and a marking 50 being provided on said conveyor 30.

Illustratively, the conveyor 30 may include a conveyor belt through which the objects 40 are conveyed.

Illustratively, the identifier 50 may be an identifier 50 externally disposed on the transfer device 30, such as a cassette, a fluorescent word, or the like. The original feature of the conveying device 30 may be, for example, a through hole is formed on the conveying belt of the conveying device 30, and the arrangement feature of the through hole may be used as the mark 50.

Referring to fig. 2, fig. 2 is a schematic block diagram of an industrial robot 20 according to an embodiment of the present disclosure. The industrial robot 20 includes an assembling mechanism 21, a photographing device 22, and a main controller 23.

The mounting mechanism 21 is used to perform work on the object 40 on the conveyor 30.

Illustratively, when the object 40 is transferred into the industrial robot 20 by the transfer device 30, the object 40 is worked by the assembling mechanism 21 to complete the work.

For example, the object 40 is a packing surface, a cardboard needs to be stuck on the object 40 to form a packing sheet having rigidity so that the packing sheet can be changed into a packing box having certain rigidity, and the work of sticking the cardboard on the packing surface is completed by the assembling mechanism 21.

It can be understood that if the actual position of the object 40 cannot be known when the assembling mechanism 21 works, an error may occur if the actual position of the object 40 is predicted by acquiring the position of the object 40 before the assembling mechanism 21 works, which may result in the situation that the cardboard is not perfectly attached to the packaging surface, and the assembling accuracy is reduced.

The photographing device 22 is configured to photograph a first image indicating a relative positional relationship between the object and the marker at a first position of the conveyor 30, and to photograph a second image indicating a position of the marker at a second position of the conveyor 30, which is closer to the mounting mechanism 21 than the first position.

The camera 22 may be a camera, or may be other sensors capable of generating the first image, such as an infrared sensor, an acoustic wave sensor, and the like, which are only exemplary and not limiting.

Illustratively, the object 40, as it is conveyed on the conveyor 30, passes through a first position and a second position of the conveyor 30, the second position being closer to the mounting mechanism 21 than the first position. It will be appreciated that the first and second positions are preset and the camera 22 is capable of capturing images of the first and second positions.

Illustratively, the assembling mechanism 21 has a working area when working, and the second position should be a position where the assembling mechanism 21 works, i.e. within the working area of the assembling mechanism 21, to obtain the actual position of the object when the assembling mechanism 21 works.

The first position may, for example, be outside the industrial robot 20 or inside the industrial robot 20, but outside the area in which the assembly means 21 is to work.

For example, the camera 22 may have only one, and the first and second positions have rails, and the camera 22 can move back and forth between the first and second positions to take the first and second images at the first and second positions of the conveyor 30.

In some embodiments, as shown in fig. 1, the camera 21 includes a first camera 221 and a second camera 222, the first camera 221 is disposed at the first position, and the second camera 222 is disposed at the second position.

It is understood that the first camera 221 may obtain a first image at a first location of the conveyor 30 and the second camera 222 may obtain a second image at a second location of the conveyor 30.

Illustratively, the first camera 221 is disposed at a first position of the conveyor 30, such that when the object 40 reaches the first position of the conveyor 30, the first camera 221 can capture a first image.

For example, the first photographing device 221 may continue photographing at the first position.

Illustratively, the first image includes the object 40 and the logo 50. In the first position, the surface of the first camera 221 that conveys the object 40 to the conveyor 30 should be unobstructed by other objects so that the first camera 221 can capture a first image that includes the object 40 and the logo 50.

Illustratively, the first image obtained by the first camera 221 at the first position includes the object 40 and the marker 50, so that the first image can be used to indicate the relative positional relationship between the object and the marker.

Illustratively, the second camera 222 is disposed at a second position of the conveyor 30, and when the object 40 reaches the second position of the conveyor 30, the second camera 222 can capture a second image.

For example, the second camera 222 may continue to take pictures at the second location.

Illustratively, the second image includes indicia 50. It is understood that the second position is located in the working area of the assembly mechanism 21, the assembly mechanism 21 may block the object 40 when working, the second camera 222 may not be able to photograph the object 40, but the sign 50 can be photographed regardless of whether the assembly mechanism 21 is working or not.

Illustratively, the second image obtained by the second camera 222 at the second location includes the marker 50, such that the second image can be used to indicate the location of the marker.

In other embodiments, the camera 22 includes a second camera 222, a third camera and a fourth camera, and the second camera 222 is disposed at the second position; the third shooting device and the fourth shooting device are arranged at the first position.

For example, a third photographing device and a fourth photographing device may be provided to photograph the first position of the transfer device 30.

It is understood that the first image is captured at the first position of the conveying device 30, the first image may include the object image and the identification image, and the third capturing device is used for capturing the object 40 to obtain the object image; the fourth photographing device is used for photographing the mark 50 to obtain a mark image.

Illustratively, a first camera may be disposed at a first position to capture a first image, and it is understood that the first image obtained by the first camera includes the object 40 and the mark 50; also can set up the third respectively at the primary importance and shoot device and the fourth shooting device, shoot respectively, can understand, obtain the object image including object 40 through the third shooting device, include the sign image of sign 50 through the fourth shooting device to reach and to shoot object 40 and sign 50 jointly, also can be to the purpose that object 40 and sign 50 separately shoot, the industrial robot system 10 of being convenient for is suitable for various practical scenes.

A main controller 23, the main controller 23 connecting the photographing device 22 and the assembling mechanism 21; the main controller 23 is configured to determine an actual position of the object 40 on the conveyor 30 according to a relative positional relationship between the object 40 and the marker 50 in the first image and a position of the marker 50 in the second image, and control the assembling mechanism 21 to perform work on the object 40 according to the actual position of the object on the conveyor 30.

In some embodiments, the main controller 23 is connected to the first camera 221 and the second camera 222, and the main controller 23 obtains the first image through the first camera 221 and the second image through the second camera 222.

For example, after the main controller 23 obtains the first image and the second image through the camera 22, the position of the object 40 in the second image can be determined according to the relative position relationship between the object 40 and the marker 50 indicated by the first image and the position of the marker 50 indicated by the second image, and it can be understood that the position of the object 40 in the second image is the actual position of the object 40.

For example, after the actual position of the object 40 is obtained, the assembly mechanism 21 may be controlled to perform the operation on the object 40, and at this time, since the assembly mechanism 21 is controlled to perform the operation on the object 40 based on the actual position of the object 40, the position where the assembly mechanism 21 performs the operation may be adjusted, so as to achieve higher operation accuracy.

In some embodiments, the shooting directions of the first camera 221 and the second camera 222 are perpendicular to the direction in which the object 40 is conveyed by the conveying device 30.

Referring to fig. 3, fig. 3 is a schematic block diagram illustrating a structure of an industrial robot system 10 according to an embodiment of the present disclosure.

As shown in fig. 3, the photographing directions of the first photographing device 221 and the second photographing device 222 are opposite to the surface of the object 40 conveyed by the conveyor 30, and the photographing directions of the first photographing device 221 and the second photographing device 222 are in a perpendicular relationship with the conveyor 30.

For example, the perpendicular relationship between the shooting directions of the first shooting device 221 and the second shooting device 222 and the conveying device 30 can effectively reduce the influence of aberration, can more accurately determine the relative position relationship between the object 40 and the mark 50, and can more accurately determine the actual position of the object 40 according to the position of the mark 50.

In some embodiments, the mounting mechanism 21 has a working area, and the first camera 221 is disposed outside the working area; the second imaging device 222 is disposed in the work area and on a side away from the mounting mechanism 21 on which work is performed; when the mounting mechanism 21 performs a work, the second imaging device 222 can image the working mounting mechanism 21 and the mark 50 on the transfer device 30 from above the mounting mechanism 21.

For example, the second photographing device 222 can photograph the mounting mechanism 21 and the sign 50 including the work, or photograph only the sign 50.

In other embodiments, the second camera 222, the third camera, and the fourth camera are connected to the main controller 23, and the main controller 23 obtains an object image including the object 40 in the first position through the third camera, obtains an identification image including the identification 50 in the first position through the fourth camera, and obtains an image including the identification 50 in the second position through the second camera 222; the main controller 23 can determine the relative positional relationship between the object 40 and the marker 50 from the object image and the marker image.

Illustratively, the shooting directions of the third shooting device and the fourth shooting device are also in a perpendicular relationship with the conveying device 30, and the third shooting device and the fourth shooting device respectively shoot the object 40 and the sign 50, there should be no blocking object.

Illustratively, the industrial robot system 10 further includes a memory storing preset positional relationships of the third photographing device and the fourth photographing device, and the main controller 23 can determine the relative positional relationship between the object 40 and the marker 50 by obtaining the object image by the third photographing device and the marker image by the fourth photographing device and by storing the preset positional relationships of the third photographing device and the fourth photographing device in the memory.

Referring to fig. 4, fig. 4 is a partial schematic view of an industrial robot system 10 according to an embodiment of the present disclosure.

It is understood that, as shown in fig. 4, the mounting mechanism 21 swings above the object 40 to perform work on the object 40, that is, the mounting mechanism 21 has a working area, and when the image capturing device 22 is located in the working area, there is a possibility that the object 40 cannot be captured due to the obstruction of the mounting mechanism 21.

Illustratively, the first photographing device 221 is provided outside the work area to photograph the object 40 and the logo 50 at the same time, and the second photographing device 222 is provided inside the work area to photograph at a position where the assembly mechanism 21 works.

Illustratively, based on the position of the first camera 221, the first image captured by the first camera 221 includes the object 40 and the mark 50, and the first image may be used to indicate the relative positional relationship between the object 40 and the mark 50.

It will be appreciated that based on the position of the second camera 222, the second image captured by the second camera 222, which may be used to indicate the relative position of the flag 50 with respect to the mounting mechanism 21, includes the mounting mechanism 21 and the flag 50 being worked on.

Illustratively, the main control 23 may determine the actual position of the object 40 through the first image and the second image to perform the job.

The actual position of the object 40 during assembly is determined through the first image shot by the first shooting device 221 and the second image shot by the second shooting device 222, so that the assembly accuracy can be effectively improved, and errors can be reduced.

In some embodiments, the master controller is further configured to determine a first image that matches the second image.

Illustratively, the conveyor 30 conveys the object 40 from the first position to the second position with a time difference during which the camera 22 may continue to take pictures, i.e., may obtain multiple first images.

It will be appreciated that when a plurality of objects are placed on the conveying device 30 for object conveying, there is a possibility that the relative position of each object 40 and the corresponding mark 50 may be slightly changed, i.e., the relative positional relationship between the current object 40 and the current mark 50 is different from the relative positional relationship between the previous object 40 and the previous mark 50. By matching the first image and the second image, the corresponding relative position relationship between each object and each identifier can be determined, so that the more accurate actual position of the object is obtained.

Illustratively, when the main controller 23 acquires a second image through the second camera 222 when the object 40 reaches the second position, the main controller 23 is further configured to determine a first image matching the second image.

It will be appreciated that after the second image is acquired, a first image is determined from the plurality of first images that matches the second image.

Illustratively, the first image matching the second image may be determined by the mark 50, for example, the mark 50 may be set in a number form of a number 1,2,3 … …, etc., and if the mark 50 of the mark 2 appears in the second image, the first image including the mark 50 of the mark 2 is determined to be the first image matching the second image in the plurality of first images.

It will be appreciated that the above-described arrangement of the identifier 50 is merely an illustrative example, and that the identifier 50 may be arranged in other forms, including the ability to distinguish the identifier 50.

In some embodiments, the industrial robot system 10 further comprises an encoder provided on the conveyor 30; the main controller 23 acquires a distance at which the object 40 is conveyed by the conveyor 30 through the encoder, and determines a first image matching the second image according to the distance.

For example, an encoder may acquire a conveying distance of the conveyor 30, and the main controller 23 may acquire the distance of the conveyor 30 conveying the object 40 through the encoder.

For example, the first image matching the second image may be determined by the distance of the transported object 40, for example, the first position and the second position are 40cm apart, and when the main controller 23 obtains the first image through the first camera 221, the distance obtained by the encoder is 60 cm; when the distance acquired by the main controller 23 through the encoder reaches 100cm, it is verified that the object 40 has reached the second position, and at this time, the second image captured by the second capturing device 222 matches the aforementioned first image.

Determining the matching first and second images by the transport distance of the object 40 and determining the actual position of the object 40 from the first and second images may effectively improve the assembly accuracy of the industrial robot 20.

In some embodiments, the mounting apparatus 20 further comprises a memory storing the distance between the first location and the second location; the main controller 23 determines a first image matching the second image by the distance between the first position and the second position acquired by the memory and the distance at which the object 40 is conveyed by the conveyor 30 acquired by the encoder.

Illustratively, the distance between the first position and the second position may be stored in the memory by an input operation of the user.

Illustratively, the main controller 23 starts calculation of the conveyance distance acquired by the encoder after acquiring the first image by the first photographing device 221, acquires the second image by the second photographing device 222 when the acquired conveyance distance reaches the distance between the first position and the second position stored in the memory, and may consider that the second image acquired at this time matches the first image acquired when calculation of the conveyance distance acquired by the encoder was started.

For example, the distance between the first position and the second position stored in the memory is 40cm, and the main controller 23 acquires the first image by the first imaging device 221 at the first time and acquires the transmission distance of the transmission device 30 by the encoder from the first time, and it can be understood that the transmission distance corresponding to the first time is 0; the main controller 23 acquires the transmission distance of 40cm at the second time by the encoder, and acquires the second image at that time by the second photographing device 222, and it can be considered that the first image acquired at the first time matches the second image acquired at the second time.

By storing the distance between the first position and the second position in the memory, and by the conveying distance of the conveying device 30 acquired by the encoder, the first image matching the second image can be accurately determined, thereby accurately determining the actual position of the object 40 at the time of assembly.

In some embodiments, after determining the first image matching the second image, the main controller 23 is further configured to obtain a relative positional relationship between the object 40 on the conveying device 30 and the mark 50 provided on the conveying device 30 based on the first image matching the second image; and determining the actual position of the object according to the relative position relationship and the position of the marker 50 in the second image.

Illustratively, after the main controller 23 determines the first image and the second image which match each other, the relative position relationship between the object 40 and the marker 50 is determined based on the object 40 and the marker 50 in the first image.

For example, the position coordinates of the object 40 are determined with the marker 50 as a reference point, and the determined relative positional relationship may be, for example, the position coordinates (0,0) of the marker 50, the position coordinates (-3, -5) of the object 40.

Illustratively, in the second image, the position of the object 40 in the second image is determined according to the relative position relationship and the position of the marker 50 to determine the actual position of the object 40.

For example, by obtaining the relative positional relationship from the first image, and taking the position of the object 40 in the second image as a reference point, the position of the object 40 in the second image can be obtained, and this position can be regarded as the actual position of the object 40 at that moment.

In some embodiments, the industrial robot 20 comprises a memory storing a relative positional relationship between the object 40 and the identifier 50 in the first image, a correspondence between the position of the identifier 50 in the second image and the actual position of the object 40 on the conveyor 30; the main controller 23 determines the actual position of the object 40 on the conveying device 30 by obtaining the relative position relationship between the object 40 and the marker 50 in the current first image and the position of the marker 50 in the current second image through the memory.

Illustratively, the memory also stores the relative position relationship between the object 40 and the mark 50 in the first image, and the corresponding relationship between the position of the mark 50 in the second image and the actual position of the object 40 on the conveying device 30.

It will be appreciated that the main controller 23 determines the relative positional relationship between the object 40 and the marker 50 in the first image, stores it in memory, and determines the position of the marker 50 in the current second image, and determines the actual position of the object 40 on the conveyor 30 by using the memory to obtain the relative positional relationship determined in the first image that matches the current second image, and the correspondence between the position of the marker 50 and the actual position of the object 40 on the conveyor 30.

In some embodiments, when the main controller 23 acquires the first image and the second image through the memory, and determines the current actual position of the object 40 on the conveyor 30 based on the first image and the second image, the main controller controls the assembly mechanism 21 to perform the work on the object 40.

Illustratively, the main controller 23 obtains the relative position relationship in the first image and the position of the identifier 50 in the second image through the memory, and determines the actual position of the current object 40 on the conveying device 30 according to the relative position relationship and the position of the identifier 50.

Illustratively, when the main control 23 determines the current actual position of the object 40 on the conveyor 30, it also controls the mounting mechanism 21 to move to the actual position of the object 40 and perform work on the object 40.

In some embodiments, the assembly mechanism 21 is used to handle the objects 40 on the conveyor 30, machine the objects 40 on the conveyor, and/or assemble the objects 40 on the conveyor 30.

For example, the assembling mechanism 21 may be used to carry the objects 40 on the conveying device 30 to a designated position, for example, to perform sorting work; the objects 40 on the conveyor may also be machined, for example by forging, casting and/or stamping and welding the objects, etc.; it will be appreciated that objects on the transfer device 30 may also be bonded and/or threaded, etc.

The assembly means 21 can meet the task requirements in different situations, increasing the applicability of the industrial robot 20.

In some embodiments, the industrial robot 20 further comprises a gripper assembly, which is arranged on a side of the assembly mechanism 21 close to the transfer device 30.

Illustratively, the assembling mechanism 21 is provided with a grabbing component for grabbing other articles, and it is understood that the grabbing component is provided on the side of the assembling mechanism 21 close to the conveying device 30, so that other articles to be grabbed can be assembled and/or placed on the object 40 on the conveying device 30.

For example, in a flow-line use scenario, it is necessary to mount a cardboard on the wrapping paper, that is, the object 40 conveyed on the conveyor 30 is the wrapping paper, and the mounting mechanism 21 picks up the cardboard from the place where the cardboard is placed by the picking assembly and moves the cardboard picked up by the picking assembly onto the wrapping paper on the conveyor 30 by the swinging of the mounting mechanism 21 itself to complete the adhesive mounting.

In some embodiments, the grasping assembly is removably attached to the mounting mechanism 21.

Illustratively, the grabbing components can be detachably connected with the assembling mechanism 21, the assembling mechanism 21 can be provided with different grabbing components to meet different assembling requirements, for example, the components for grabbing the flat object and the round object may be different, the assembling mechanism 21 can select the corresponding grabbing components according to actual requirements, and the detachable connection of the assembling mechanism 21 and the grabbing components increases the applicability of the assembling mechanism 21.

The present application provides for an industrial robot system 10, the industrial robot system 10 comprising an industrial robot 20 and a transfer device 30; the conveying device 30 is used for conveying the object 40, and the mark 50 is arranged on the conveying device; the industrial robot 20 includes an assembling mechanism 21, a photographing device 22, and a main controller 23; the assembling mechanism 21 is used for performing work on the object 40; the photographing device 22 is used for photographing a first image at a first position of the conveying device 30, and photographing a second image at a second position of the conveying device 30, wherein the first image is used for indicating the relative position relationship between the object 40 and the mark 50, the second image is used for indicating the position of the mark 50, and the second position is closer to the assembling mechanism 21 than the first position; the main controller 23 is connected with the shooting device 22 and the assembling mechanism 21, and is used for determining the actual position of the object 40 according to the relative position relationship between the object 40 and the mark 50 and the position of the mark 50 and controlling the assembling mechanism 21 to work on the object 40 according to the actual position of the object 40. The actual position of the object 40 can be known during the assembly process to improve the accuracy of the assembly.

It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An industrial robot system, characterized in that the industrial robot system comprises:

an industrial robot, comprising:

2. The industrial robot system according to claim 1, wherein the camera comprises a first camera and a second camera, the first camera and the second camera being connected to the master controller;

the first shooting device is arranged at the first position, and the second shooting device is arranged at the second position.

3. The industrial robot system according to claim 2, wherein the photographing directions of the first photographing device and the second photographing device are perpendicular to the direction in which the object is conveyed by the conveyor.

4. The industrial robot system according to claim 2, wherein the fitting mechanism has a working area, and the first photographing device is provided outside the working area;

the second shooting device is arranged in the working area and is far away from one side where the assembling mechanism works.

5. The industrial robot system according to claim 1, wherein the photographing means includes a second photographing means, a third photographing means, and a fourth photographing means, the second photographing means, the third photographing means, and the fourth photographing means being connected with the main controller;

the third shooting device and the fourth shooting device are arranged at the first position, and the second shooting device is arranged at the second position.

6. An industrial robot system according to any of the claims 1-5, characterized in that the industrial robot system further comprises an encoder provided on the conveyor;

the main controller obtains the distance of the object conveyed by the conveying device through the encoder, and determines a first image matched with the second image according to the distance.

7. An industrial robot system according to claim 6, characterized in that the industrial robot further comprises a memory, which memory further stores the distance between the first and second position;

the main controller determines a first image matching the second image by the distance between the first position and the second position stored in the memory and the distance at which the object is conveyed by the conveyor acquired by the encoder.

8. An industrial robot system according to any of the claims 1-5, characterized in that the industrial robot further comprises a memory storing the relative position relationship between the object and the identity in the first image, the correspondence between the position of the identity in the second image and the actual position of the object on the conveyor;

the main controller is used for determining the actual position of the current object on the conveying device according to the relative position relationship between the object and the identifier in the current first image and the position of the identifier in the current second image.

9. An industrial robot system according to any of the claims 1-5, characterized in that the assembling means are used for handling, machining and/or assembling objects on the conveyor.

10. An industrial robot system according to any of the claims 1-5, characterized in that the industrial robot further comprises a gripper assembly, which gripper assembly is arranged on the side of the assembly means near the transport device.

11. An industrial robot system according to claim 10, characterized in that the gripping member is detachably connected to the mounting means.